Method for adjusting brake pressures of a vehicle, and brake system for carrying out the method

ABSTRACT

A method for adjusting brake pressures at pneumatically actuated wheel brakes of a vehicle includes receiving an external braking demand. The method further includes, in response to the received external braking demand, performing, during each of a plurality of computation cycles: (i) ascertaining control signals for pressure control valves of the pneumatically actuated wheel brakes of the vehicle, (ii) continuously ascertaining a differential slip value, wherein the differential slip value is a difference between a slip of two axles of the vehicle and is determined by measuring signals supplied by speed sensors of wheels of the vehicle, (iii) evaluating the differential slip value with respect to a predefined or adjustable setpoint differential slip value, (iv) based on the evaluation of the differential slip value, adapting the ascertained control signals, and (v) releasing the adapted control signals to the pressure control valves.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is continuation of U.S. patent application Ser. No.16/060,029, filed on Jun. 7, 2018, which is a U.S. National StageApplication under 35 U.S.C. § 371 of International Application No.PCT/EP2016/001916 filed on Nov. 17, 2016, and claims benefit to GermanPatent Application Nos. DE 10 2015 015 924.0 filed on Dec. 9, 2015 andDE 10 2016 013 054.7 filed on Oct. 27, 2016. The InternationalApplication was published in German on Jun. 15, 2017 as WO 2017/097394A1 under PCT Article 21(2).

FIELD

The invention relates to a method for adjusting brake pressures atpneumatically actuated wheel brakes of a vehicle, to a braking system ofa vehicle, and to a vehicle comprising such a braking system.

BACKGROUND

In order to decelerate a motor vehicle, the wheels of the motor vehicleare braked. In commercial vehicles in particular, each of the wheelbrakes of the wheels comprises brake cylinders, wherein the desiredbrake pressure in the brake cylinders is generally generatedpneumatically.

In a normal braking mode, the brake pressure is adjusted depending on adriver's braking demand determined by the driver of the motor vehicle.Generally, the driver of the motor vehicle transmits his/her driver'sbraking demand by actuating a brake pedal. In known braking systems, aservice-brake valve, which controls the supply of the brake cylinderfrom a pressure reservoir, is often actuated by means of the brakepedal.

Alternatively to the normal braking mode, in a pressure control mode,the brake pressure is adjusted by a brake control unit at the particularwheel brakes according to the requirements of the brake control unitwhen corresponding braking requirements have been established. Suchbraking requirements can be, for example, antilock interventions, whenthe brake control unit establishes that certain wheels tend to lock. DE10 2009 058 154 A1 discloses such a braking system which also takes overthe adjustment of the brake pressure in the pressure control mode whenan external braking demand independent of the driver's braking demand isreceived, for example the braking demand of a driver assistance system.Driver assistance systems, as systems designed separately from the brakecontrol unit, output signals corresponding to the desired braking powerto the brake control unit of the braking system, for example via a databus.

In the known braking system, the brake control unit carries out acontrol of the braking systems on the basis of the driver's brakingdemand and, in addition, on the basis of internal control processes suchas antilock interventions or a stability control, and on the basis ofthe additional external braking demand. The external braking demand isspecified to the brake control unit as a setpoint deceleration value,i.e., as a value which represents the deceleration of the motor vehicledesired by the driver assistance system. If external braking demands aswell as a driver's braking demand arise in the pressure control mode,i.e., the driver brakes in addition to the external braking demand, thebrake control unit adjusts the brake pressure at the particular brakesin accordance with a resultant setpoint deceleration value of thevehicle deceleration. In the known braking system, the driver's brakingdemand and the external braking demand are additively linked.Alternatively, in the known braking system, in a “maximum” mode, themaximum value is to be formed, by the control unit, from the setpointdeceleration value demanded internally by the braking system due to adriver's braking demand and an externally demanded setpoint decelerationvalue. An externally demanded braking demand is adjusted only when it ishigher than the internal braking demand.

The takeover of the adjustment of the brake pressure in the pressurecontrol mode by a brake control unit when certain wheels tend to lock isknown by the designation “antilock braking system” (ABS). The fact is,in every braking operation, only a braking force corresponding to theroad friction coefficient can be utilized. If the introduced brakingforce exceeds the maximum braking force that can be transmitted at oneor multiple wheels, the wheels begin to lock, whereby the motor vehiclecan become unstable. An ABS system permanently monitors, via measuringsignals from speed sensors, the speed of each wheel and, on the basisthereof, ascertains the particular wheel slip. This can take place, forexample, by comparing the wheel speed ascertained from the wheelrotational speed with a (computed) vehicle reference speed. If atendency for the wheel to lock is detected via the wheel slipascertained in this way, i.e., an ABS slip limit has been reached orexceeded, the brake control unit takes over the control by adjusting thebrake pressure. In this case, in a first step, the brake pressure isreduced in order to subsequently regulate the brake pressure of therelevant wheel along the slip limit. In this case, the braking torque isincreased again for as long as it takes for a braking torquecorresponding to the road friction coefficient to be reached. As aresult, in principle, the vehicle is to be nearly optimally deceleratedand, simultaneously, the stability and steerability are to be retained.

DE 3829951 A1 discloses a method for carrying out a load-dependentregulation of the brake pressure on a commercial vehicle, which utilizesthe components of an existing antilock braking system (ABS) in order totherefore implement an automatic, load-dependent braking function in thenormal braking mode that also functions well below the wheel lockinglimit. In the known method, the brake pressure and, therefore, thebraking force distribution are to be controlled below the wheel lockinglimit in an axle-specific manner, wherein an interaxle brake pressuredistribution is automatically controlled—in accordance with theevaluation of the wheel rotational speed signals delivered by the wheelspeed sensors—in a slip range below the range in which the ABS functiontakes effect.

In a method of the generic type for adjusting the brake pressure, forexample according to DE 10 2009 058 154 A1, if a need for regulation bythe ABS system arises in the pressure control mode after an externalbraking demand has been received, i.e., it is established that the sliplimit has been reached or exceeded at at least one vehicle wheel and,therefore, it is determined that the relevant wheel has a tendency tolock, the antilock function takes over the control by adjusting thebrake pressure in the pressure control mode. An implementation of thebrake pressure control via ABS during an external braking demand yieldsdisadvantages, in principle. It becomes difficult to adjust the brakepressure in accordance with the demanded vehicle deceleration and, lastbut not least, the safety of the braking and the driving comfortdecrease. In particular, an undesirable jerk occurs, again and again,due to a sudden increase in the brake pressure.

SUMMARY

In an embodiment, the present invention provides a method for adjustingbrake pressures at pneumatically actuated wheel brakes of a vehicle,wherein the brake pressures at the wheel brakes are adjusted in a normalbraking mode as a function of a driver's braking demand determined by adriver of the vehicle. The method includes receiving an external brakingdemand independent of the driver's braking demand, wherein the externalbraking demand specifies a demanded vehicle deceleration. The methodfurther includes, in response to the received external braking demand,performing, by a brake control unit during each of a plurality ofcomputation cycles in a pressure control mode: (i) ascertaining controlsignals for pressure control valves of the pneumatically actuated wheelbrakes of the vehicle, wherein the ascertained control signals for thepressure control valves specify control of the pressure control valvesfor bringing about the demanded vehicle deceleration, (ii) continuouslyascertaining a differential slip value, wherein the differential slipvalue is a difference between a slip of two axles of the vehicle and isdetermined by measuring signals supplied by speed sensors of wheels ofthe vehicle, (iii) evaluating the differential slip value with respectto a predefined or adjustable setpoint differential slip value, (iv)based on the evaluation of the differential slip value, adapting theascertained control signals for the pressure control valves so as tospecify control of the pressure control valves for bringing thedifferential slip value closer to the predefined or adjustable setpointdifferential slip value, and (v) releasing the adapted control signalsto the pressure control valves.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be described in even greater detail belowbased on the exemplary figures. The invention is not limited to theexemplary embodiments. All features described and/or illustrated hereincan be used alone or combined in different combinations in embodimentsof the invention. The features and advantages of various embodiments ofthe present invention will become apparent by reading the followingdetailed description with reference to the attached drawings whichillustrate the following:

FIG. 1 shows a pneumatic and electrical diagram of a braking system of acommercial vehicle;

FIG. 2 shows a pneumatic and electrical diagram of a braking system of avehicle combination comprising a towed vehicle;

FIG. 3 shows a flow chart of a method according to a first embodimentfor adjusting the brake pressures in a braking system according to FIG.1 or 2;

FIG. 4 shows a flow chart of a method according to a second embodimentfor adjusting the brake pressures in a braking system according to FIG.1 or 2;

FIG. 5 shows a flow chart of a a method according to a third embodimentfor adjusting the brake pressures in a braking system according to FIG.1 or 2;

FIG. 6 shows a pneumatic and electrical diagram of a braking system of avehicle combination comprising a towed vehicle;

FIG. 7 shows a flow chart of a method according to an embodiment foradjusting the brake pressures in a braking system according to FIG. 6;and

FIGS. 8, 9, and 10 show exemplary progressions of the differential slipvalue over time during the operation of a braking system according toFIG. 6.

DETAILED DESCRIPTION

Embodiments of the present invention provide for a jerk-free andconstant braking behavior of a vehicle or of a vehicle combinationcomprising several vehicles during an adjustment of a brake pressure ina pressure control mode after an external braking demand.

After an external braking demand, a brake control unit ascertainscontrol signals for the relevant pressure control valves forimplementing the external braking demand in the pressure control mode,wherein, according to embodiments of the invention, before the controlsignals are released, at least one differential slip value iscontinuously ascertained, from measuring signals supplied by speedsensors of the wheels, as the difference between the slip of two axlesof the vehicle, and the differential slip value is brought closer to apredefined or adjustable setpoint differential slip value by adapting atleast one control signal for the pressure control valves of at least onewheel brake. The brake control unit therefore carries out a supervisionof the control signals initially ascertained for implementing thebraking demand, specifically with consideration for the setpointdifferential slip value, before releasing the ascertained controlsignals. By way of the adaptation of the control signals, the physicalvariables and the rotational behavior of the wheel change during thebraking operation due to the change in the brake pressure of therelevant wheel brake. By way of the change in the brake pressure, adesired differential slip between two axles or wheels is directlyadjusted, without the need to know the level of the brake pressure. As aresult, the wheels of two axles have an identical, desirable rotationalbehavior relative to each other.

During a continuous application of the brakes, the occurrence of atendency to lock due to an external braking demand results—due to theusually higher priority of the anti-lock control action—in at least onewheel or one axle being controlled along the particular slip limit,according to the antilock function and, therefore, the maximum possiblebraking force is transmitted onto the roadway up to the end of anantilock intervention. States often occur during the operation of avehicle, however, in which low friction conditions only for a very shortperiod of time, a so-called μ jump, and therefore corresponding slipconditions for a short period of time and prompt a response by theantilock function; therefore, the wheel or the axle and, therefore, theentire vehicle is regularly overbraked. Even in the case of a very briefμ jump, the relevant wheel or an axle transmits the maximum possiblebraking force onto the roadway for the entire remaining duration of thebraking operation. In most cases, however, this does not correspond tothe external braking demand which therefore generally cannot beimplemented.

According to embodiments of the invention, an active intervention of thebrake control unit is prevented when there is a tendency to lock foronly very short intervals, in that the brake control unit carries out asupervision of the control signals on the basis of the differential slipconditions, in the pressure control mode, after an external brakingdemand and before the ascertained control signals are released. Due tothe supervision of the control signals, according to embodiments of theinvention, on the basis of the differential slip values, dynamic brakepressures are adjusted at the individual axles and wheels during theentire braking operation and every computation cycle in the pressurecontrol mode. As a result, a rotational behavior of the wheels of thevehicle relative to each other is adjusted according to the desired andcorrespondingly predefined differential slip, throughout the entirebraking operation, with the aid of individually ascertained brakepressures at the wheel brakes, which are immediately derived and adaptedfrom the presently ascertained interaxle differential slip. As a result,an optimal braking force distribution between the axles and wheels and,therefore, a high level of safety in the vehicle, is always ensured:Furthermore, an undesirable intervention by the ABS is ruled out for aslong as possible and is carried out as late as possible under the givenphysical conditions. All wheels of the vehicle lock simultaneously ornearly simultaneously.

In one advantageous embodiment of the braking system, the pressurecontrol valves each comprise an inlet valve for increasing the brakepressure and an outlet valve for reducing the brake pressure. As aresult, one possibility for the particularly fine readjustment of thedifferential slip value of two axles toward the predefined setpointdifferential slip value is that the control signal of an inlet valve orof an outlet valve of the pressure control value of the same axle ischanged.

Yet another possibility for the fine adaptation of the brake pressuredistribution for adjusting a desirable differential slip between atleast two wheels is to simultaneously control the inlet valve and theoutlet valve of the same pressure control valve, i.e., with overlappingcontrol times. In this case, the desired change in the brake pressuredistribution can be achieved by changing the pulse pattern of apulse-modulated control of the inlet and outlet valves. Alternatively oradditionally, the control signal or the pulse pattern of an inlet valveor an outlet valve acting on the particular other axle is changed.

The re-ascertained control signals or pulse patterns are also subject tothe supervision according to embodiments of the invention by means of anevaluation of a differential slip value and bringing the differentialslip value closer to a predefined setpoint differential slip value. Inone advantageous embodiment, the setpoint differential slip value ispredefined in an adjustable manner.

The differential slip value is adjusted with the setpoint differentialslip value as the guide variable. In a main loop for the adjustment,control signals for the pressure control valves are ascertained on thebasis of a regulation (closed loop) of a dynamic variable of thevehicle, in particular the present deceleration, and these controlsignals are monitored with the aid of the supervision according toembodiments of the invention. In this case, the interaxle differentialslip value is controlled to the setpoint differential slip. The brakepressure is controlled (open loop) via the control signals, and thevalues of pulse and cycle times of the valves are advantageously takenfrom predefined tables. When the control targets “deceleration” and/or“differential slip value” are not met, an “open loop” is controlled bymeans of a pressure variation with the aid of the valves.

In the case of an exclusive braking operation due to an external brakingdemand, the setpoint differential slip value is advantageously specifieddepending on the demanded setpoint deceleration of the vehicle accordingto the external braking demand. If there is a combined braking operationconsisting of an external braking demand and driver braking, thespecification of the setpoint differential slip value depends on theresultant setpoint deceleration of the vehicle, which results on thebasis of both braking demands. Alternatively, the setpoint differentialslip value is dependent on the actual deceleration of the vehicle.

A setpoint differential slip value is preferably specified in such a waythat, in a lower range of the demanded deceleration, the rear axle or,in the case of multiple rear axles, one of the rear axles has a greaterslip than a front axle. As the magnitude of the braking demand or thepresent actual deceleration of the vehicle increases, the predefinedsetpoint differential slip is changed in the direction of an equalizedvalue between the rear axle and the front axle, i.e., the setpointdifferential slip is increasingly reduced, if necessary until the value“zero” has been reached. In yet another embodiment of the invention, thesetpoint differential slip value is less than zero in the case ofbraking demands in the upper range of demanded decelerations, i.e., inthe case of high decelerations, the front axle has a higher slip thanthe rear axle, i.e., the wheels of the front axle rotate at lower wheelspeeds than the wheels of the rear axle.

Advantageously, the differential slip value is evaluated withconsideration for at least one predefined control criterion. Dependingon the evaluation, the brake control unit releases the ascertainedcontrol signals or initiates the adjustment of the differential slipvalue toward the setpoint differential slip value by adapting at leastone control signal with respect to a reduction of the differential slipvalue. The evaluation of the differential slip value, i.e., thedifference between the slip values of two axles, takes place on thebasis of a comparison of the differential slip value with the controlcriterion.

In one advantageous embodiment of the invention, at least one slipthreshold value is specified to the brake control unit as a controlcriterion for the evaluation of the differential slip value. If the slipthreshold value is exceeded, an active readjustment of the differentialslip value toward the setpoint differential slip value takes place byway of an adaptation of the control signals. As a result, the brakepressure at the particular controlled wheel brake is changed. In thiscase, a single slip threshold value suffices for the evaluation of adifferential slip value, in order to initiate the adaptation of controlsignals in this embodiment.

In order to readjust the differential slip value, the supervisionevaluates the trend of the change in the differential slip. If a certainaxle has a positive differential slip as compared to the other axle ofthe axle pair under consideration, for example, it can be deducedtherefrom that the relevant axle is over-braked relative to the otheraxle. If the supervision ascertains control signals for the inlet valvesof the axle tending to over-brake, the supervision prevents theimplementation of the relevant pulse pattern with which the axle, or atleast one wheel of the relevant axle, would enter even further into anover-braking state. The initially ascertained pulse pattern for theinlet valve is initially blocked for an implementation and a new pulsepattern is ascertained with respect to an adaptation of the brakepressure distribution. The evaluation of the differential slip valuetakes place continuously.

In yet another advantageous embodiment of the invention, a tolerancerange having an upper slip threshold value and a lower slip thresholdvalue is specified to the control unit as the control criterion for theevaluation of the differential slip value. The parameterization of thetolerance range with slip threshold values can be determined in advanceor can also be adjustable, as required. If the upper slip thresholdvalue is exceeded or the lower slip threshold value is fallen below, anadaptation of the control signals takes place in order to readjust thedifferential slip value. In this case, the upper slip threshold value ofthe predefined tolerance range is utilized, in particular, for changingthe control signals or the pulse pattern for the inlet valves of theaxle tending to over-brake. The lower slip threshold value iscorrespondingly utilized, in particular, for the supervision of thecontrol signals of outlet valves. If the ascertained differential slipvalue falls below the lower slip threshold value of the tolerance range,the initially ascertained control signal for outlet valves is notimplemented; instead, a recalculation of the control signals is carriedout.

The supervision ensures that control signals for inlet valves arereleased only when differential slip values are below the upper slipthreshold value. Correspondingly, control signals for outlet valves arereleased for implementation by the outlet valves only when differentialslip values are ascertained, within the scope of the supervision, abovethe lower slip threshold value.

Advantageously, two tolerance ranges, which can each be parameterizedwith a lower slip threshold value and an upper slip threshold value, arepredefined for evaluating the differential slip value. In this case, afirst tolerance range is utilized in the pressure control mode withexternal braking demands without active retarders. The second tolerancerange is utilized in pressure control modes when active retarders, forexample engine brakes, are active at the relevant axle. In the case ofan external braking demand, the brake control unit distinguishes whethera retarder is active at one of the axles or not, and the particulartolerance range provided forms the basis for the supervision of theascertained control signals. In this way, it can be established that ahigher upper slip value is used as the basis in the case of an activeretarder, and therefore aspects of a wear of brake pads, for example,can be taken into account.

A prevention of undesirable antilock interventions is given by means ofa representative supervision of the control signals in vehiclescomprising more than two axles, in that differential slip values areascertained for multiple axles, in each case based on a reference axletaken into account in all axle pairs. This reference axle, which istaken into account in all differential slip values, is preferably thefront axle.

In one advantageous embodiment, the brake circuits of the pressurecontrol valves can be connected to a pressure medium supply viaactuation of one activation valve per brake circuit. These activationvalves are actuated and switched by the brake control unit. When thepressure control mode is concluded, the activation valve of the relevantbrake circuit is brought into the closed position by the brake controlunit, whereby the connection of the connected pressure control valves tothe pressure medium supply is disconnected. Advantageously, assigned toeach axle is a separate brake circuit, the wheel brakes of which areeach supplied by the brake circuit.

Embodiments of the invention are advantageous in the case of vehicles,in particular, which are equipped with pneumatically actuatable wheelbrakes. The vehicle is advantageously a motor vehicle in this case,i.e., the type of vehicle that is driven by engine power, or a towedvehicle for motor vehicles. Embodiments of the invention are preferablyutilized in commercial vehicles and vehicle combinations comprising avehicle which is referred to as the towing vehicle in the vehiclecombination, and one or multiple towed vehicles. A towed vehiclegenerally comprises a separate braking system which implementsrequirements of the brake control unit of the towing vehicle, forexample a setpoint deceleration or a setpoint brake pressure.Furthermore, towed vehicles can be equipped with a driver assistancesystem which specifies external braking demands to the brake controlunit of the towing vehicle. A commercial vehicle is a motor vehiclewhich is intended, according to its type and configuration, for haulingpersons or goods or for towing towed vehicles.

In a vehicle combination, in which a data transmission takes placebetween the component vehicles, for example via a CAN interface, adifferential slip-dependent trailer brake pressure control via the brakecontrol unit of the towing vehicle is possible when an electronic brakemodule of a towed vehicle is connected to the brake control unit in asignal-transmitting manner in order to control the pressure controlvalves of the trailer axles.

In this case, at least one wheel speed signal, e.g., a wheel speed of atleast one wheel of the towed vehicle, is transmitted via the CANinterface to the brake control unit of the motor vehicle or the towingvehicle. The brake control unit of the towing vehicle determines adifferential slip-dependent trailer brake pressure and controls it orprovides a brake module of the towed vehicle with appropriaterequirements, whereby the brake module adjusts the desired brakepressure at the wheel brakes of the towed vehicle. Therefore, thedifferential slip between the wheels or an axle of the trailer and thereference axle of the towing vehicle, i.e., advantageously the frontaxle, is advantageously ascertained and utilized for the pressureadjustment according to embodiments of the invention.

Advantageously, the braking system comprises an additional trailerpressure control valve for adjusting the trailer brake pressure, whichcan be controlled by the brake control unit of the towing vehicle andwhich is situated in the towing vehicle and is connected to a trailercontrol valve of the towing vehicle. In this way, the presently optimaltrailer brake pressure can be adjusted in order to implement the brakingrequirements with little structural outlay for communication of the partof the braking system of the vehicle combination belonging to the towingvehicle and of the part of the braking system belonging to the towedvehicle. The braking systems of the towing vehicle and of the towedvehicles can function largely autonomously and can simultaneouslyinteract within the scope of the adjustment of the brake pressureaccording to embodiments of the invention. The brake module of the towedvehicle, in addition to its genuine function, forwards the informationregarding the rotational behavior of the wheels or axles of the towedvehicle required by the brake control unit of the towing vehicle.

In one advantageous embodiment of the invention, the trailer axle isdetermined that presently has the least slip in order to determine thebrake pressures in a vehicle combination comprising a motor vehicle andat least one towed vehicle, in particular for implementing externalbraking demands of the trailer axles, i.e., the axles of a trailer. Theinformation regarding the present slip of a trailer axle is continuouslyascertained from the measured speed values of the wheels of the relevanttowed vehicle. The trailer axle having the highest rotational speeds issimultaneously the trailer axle having the least slip. In other words,the control axle is the trailer axle that, of all the trailer axles,likely must support the greatest axle load and, therefore, generallyrequires the greatest brake pressure for a desired deceleration of thevehicle.

A trailer differential slip value corresponding to the difference of theslip of the reference axle of the towing vehicle and the slip of thecontrol axle of the towed vehicle is determined exclusively for thedetermined trailer axle having the least slip at the moment, which is tobe referred to here as the control axle. The trailer differential slipvalue is readjusted, in particular controlled, by way of the adjustmentof the brake pressure at the brakes of the towed vehicle (trailer brakepressure) according to embodiments of the invention.

At the wheel brakes of the trailer axle determined to be the controlaxle, the inlet valves of the particular pressure control valves remainopen, i.e., are not controlled in order to be closed, and therefore thetrailer brake pressure is adjusted exclusively at the relevant wheelbrakes of the control axle. At the wheel brakes of the remaining traileraxles, the inlet valves of the particular pressure control valves areclosed, i.e., controlled, after a start point according to therequirement of an external braking demand, and therefore no furtherpressure increase can take place for the time being. The closing of thepressure control valves advantageously takes place via the brake moduleof the towed vehicle. A certain start condition is advantageouslypredefined for the start point after the onset of the decelerationeffect during a braking operation, for example a certain decelerationvalue, such as 1 m/s². Alternatively or additionally, the brake controlunit of the towing vehicle signals to the brake module 66 of the towedvehicle an adaptation of the control signals in order to readjust thedifferential slip value, as the start condition. The brake control unitsignals an active intervention by the supervision into the determinationof the control signals for the towing vehicle, and the brake module ofthe towed vehicle registers a corresponding signal of the brake controlunit of the towing vehicle, as the start condition. The determination ofthe control axle can take place even prior to the onset of the startcondition, for example starting with the first reception of an externalbraking demand. The start condition is then generally availableimmediately at the start point of the method according to embodiments ofthe invention, as determined on the basis of filtered measuring signalsof the speed sensors.

The slip at the control axle or a piece of slip information representingthe slip, for example the rotational speed or the speed, is communicatedto the brake control unit of the towing vehicle, which, on the basis ofthis information, takes over the determination, according to embodimentsof the invention, of the trailer differential slip value with respect tothe reference axle towing vehicle and the readjustment of thedifferential slip value toward a predefined setpoint value anddetermines appropriate brake pressures.

In one preferred embodiment of the invention, the notification of theinformation representing the slip at the selected control axle takesplace according to the demand for braking power by the towing vehicle.Advantageously, the brake control unit of the towing vehicle informs thebraking system of the towed vehicle via the activation of thedetermination of brake pressures under supervision according toembodiments of the invention, for example, by supplying an appropriatesignal.

Due to the procedure according to embodiments of the invention fordetermining a control axle by exclusively readjusting the differentialslip value at this control axle, an optimal compromise is reachedbetween the need to improve the contribution of the wheel brakes of thetowed vehicle to implementing the demanded setpoint deceleration of thevehicle combination, on the one hand and, on the other hand, the need tomix the braking systems of the component vehicles of the vehiclecomposition as little as possible, for safety reasons. In addition, thebrake control unit of the towing vehicle need read in only a smallamount of information from the towed vehicle for the determination ofthe brake pressures according to embodiments of the invention undersupervision of the control signals for the pressure control valvesinvolved. Only the rotational speed signals or slips of the wheels ofthe trailer axle determined to be the control axle, or even only onesingle rotational speed signal or one single slip representing therotational behavior or braking behavior of both wheels of the controlaxle need be transmitted to the brake control unit of the towingvehicle. The transmission of the information regarding the rotationalbehavior to the control axle takes place, in particular, via the CANinterface.

Many suboperations of the adjustment of the brake pressure at thetrailer axles according to embodiments of the invention can take placeby way of the braking system of the towed vehicle or its electronicbrake module, for example the determination of the control axle on thebasis of the rotational speed signals of the trailer axles.

A further undesirable increase in the braking force is prevented at therelevant trailer axle by the (temporary) closure of the inlet valves atthe at least one further trailer axle (in addition to the trailer axledetermined to be the control axle). The brake module of the towedvehicle can therefore automatically temporarily initiate a relativeminimum braking, i.e., a braking effect of the own axles that is reducedwith respect to the braking effect that takes effect in the normalbraking mode (the driver brakes) and, therefore, is adapted according toslip criteria and, therefore, is optimized. A substantial gain indriving safety is therefore achieved.

Advantageously, the switching state of the inlet valves is monitored andthe closed switching state of the inlet valves, i.e., the active controlof the inlet valves, is concluded and, if necessary, is activated againdepending on an evaluation of the time sequence of the difference of theslip of the particular trailer axle and the slip of the control axlehaving at least one predefined switching threshold for the trailerdifferential slip between the trailer axles. In the further temporalprogression of the braking operation, proceeding from the point in timeof the closure of the inlet valves of a trailer axle, if thedifferential slip of two trailer axles changes approximatelycontinuously in the direction of a differential slip of zero, theswitching state of closed inlet valves is retained.

A first switching threshold in the evaluation of the differential slipbetween a trailer axle and the control axle of the towed vehicle isadvantageously specified as a reaching and exceeding of a zero line ofthe trailer differential slip by a tolerance slip value, for example atolerance slip value of 0.5%.

In this case, the zero line corresponds to equalized slip conditionsbetween the axles under consideration, i.e., the trailer differentialslip is zero. A percentage tolerance slip value of, for example, 0.5%,relates to the definition of the slip in the dimension (auxiliary unitof measure) “percent” according to the formula (n1−n2)/n1×100%, whereinthe variable “n” designates the rotational speed of an axle.Alternatively, instead of the rotational speed “n”, the speed “v” of thewheels of an axle can be utilized in the formula. Therefore, the inletvalves of the pressure control valves of the relevant trailer axle,after having closed for the first time, are opened again for the firsttime at the start point when a differential slip of zero, i.e., the zeroline, has been reached by the differential slip after the start pointand, in addition, an absolute value of a differential slip correspondingto the tolerance slip value of, for example, 0.5% has been exceeded. Ifthere is a continuously further increasing braking demand in the furthertemporal progression of the braking operation after the start point, theswitching states of the inlet valves of the pressure control valves ofthe relevant trailer axle are each subsequently switched after the signof the trailer differential slip changes when the tolerance slip valueis reached, i.e., the inlet valves are alternately opened and closedagain. The inlet valves are opened, in this case, when the trailerdifferential slip has the sign other than the sign that was present atthe start point of the braking operation and, in addition, the zero linehas been reached since the latest switching-state change and, inaddition, has been exceeded by the tolerance slip value of, for example,0.5%. The inlet valves are closed, however, when the trailerdifferential slip has the same sign as the sign that was present at thestart point of the braking operation and the zero line has been reachedsince the latest switching-state change and, in addition, has beenexceeded by the tolerance slip value of, for example, 0.5%.

In one particularly advantageous embodiment of the method, after thetrailer differential slip has reached the first switching threshold, atendency of the braking demand (external braking demand or resultantbraking demand) is taken into account and, in the case of a decreasingbraking demand, an expanded tolerance range for the trailer differentialslip is specified and the inlet valves of the trailer axles, except forthe control axle, are held closed until the expanded tolerance range isexited. The expanded tolerance range has, for example, twice the valueof the tolerance slip value 80 on both sides of the zero line 86. In thefurther temporal course of the braking operation after the firstswitching threshold has been exceeded, the inlet valves of the relevanttrailer axle are therefore opened, i.e., are not or are no longeractively controlled by the brake module of the towed vehicle, only whenthe braking demand (external braking demand or resultant braking demand)has increased since the most recent calculation cycle of the brakingmodule of the towed vehicle. If this is not the case, i.e., the value ofthe braking demand has remained the same or has dropped, the inletvalves of the relevant trailer axle are continued to be held closed,i.e., are actively controlled by the brake module of the towed vehicle.

For the case in which the absolute value of the trailer differentialslip increases after the inlet valves have closed, an initial value ofthe trailer differential slip at the point in time of the closure of theinlet valves is utilized as the second switching threshold. To this end,the present value of the trailer differential slip is registered andstored at the point in time of the closure of the inlet valves. Thesecond switching threshold is determined as an increase in the initialvalue of the trailer differential slip at the point in time of theclosure of the inlet valves by a predefined portion of the initial valueor a predefined tolerance slip value. Due to this switching threshold,undesirable over-brakings are ruled out.

For the case of an absolute value of the trailer differential slip thatdecreases at least by the tolerance slip value, in the further temporalprogression of the braking operation after the inlet valves have closed,it is not the second threshold value, but rather the initial value ofthe trailer differential slip at the start point of the closure of theinlet valves that is specified as the third switching threshold.Therefore, if the absolute value of the differential slip drops, atleast temporarily, from the initial value of the trailer differentialvalue that was present at the start point, i.e., the onset of a certainstarting condition, in the direction of the zero line, preferably by atleast the absolute value of the tolerance slip value of, for example,0.5%, and increases again in the further course of the brakingoperation, the stored trailer differential slip at the point in time ofthe first closure of the inlet valves is specified as the thirdswitching threshold. The third switching threshold has the same sign asthe trailer differential slip at the start point. Therefore, if theabsolute value of the trailer differential slip increases again after aninitial decrease at least by the absolute value of the specifiedtolerance slip value and reaches the stored initial value of the trailerdifferential slip that was present at the start point, the closedswitching state of the inlet valves at the relevant trailer axles isconcluded. In this way, the situation is detected, in which the trailerdifferential slip initially decreases in the direction of zero, but adifferential slip of zero is not reached and, subsequently, the value ofthe trailer differential slip that was present at the start point of theclosure of the inlet valves is reached again. As a result, it is ruledout that the inlet valves remain closed for undesirably long timeperiods.

FIG. 1 shows an electrical-pneumatic diagram of a braking system 1 of avehicle 2, namely a commercial vehicle. Electrical lines are representedby solid lines and pneumatic lines are represented by dotted lines. Inthe exemplary embodiment shown, the vehicle 2 comprises two axles,namely a front axle 3 and a rear axle 4, at each of which wheels 5 aredisposed on both sides. A wheel brake 6 is assigned to each wheel 5 inorder to decelerate the wheels 5. The wheel brakes 6 can bepneumatically actuated and each comprise a brake cylinder 7. The wheelbrakes 6 apply a braking force on the rotating wheel 5 according to thepneumatic brake pressure present in the particular brake cylinder 7.Brake cylinders 7 comprising spring-loaded cylinders 8, which are usedas a parking brake, are provided at the wheels 5 of the rear axle 4.

A brake pedal 9, which is coupled to a service-brake valve 10, issituated in the driver's cab of the vehicle 2. The driver of the vehicle2 can switch pneumatic pressure through to the brake cylinders 7 byactuating the brake pedal 9 and, therefore, actuate the wheel brakes 6.To this end, the service-brake valve 10 controls pneumatic brake lines11, 44 between the pressure medium supplies 12, 15 and the brakecylinders 7.

In the exemplary embodiment shown, the wheel brakes 6 of the front axle3 are assigned to a shared first brake circuit 13, while the wheelbrakes 6 of the rear axle 4 can be actuated via a second brake circuit14. The first pressure medium supply 12 is assigned to the first brakecircuit 13 in this case and is connected to the brake cylinder 7 of thefront axle 3 via the brake line 11. The second brake circuit 14 of therear axle 4 is supplied with pressure medium via a second pressuremedium supply 15. The second brake circuit 14 is designed similarly tothe first brake circuit 13, i.e., the brake line 44 between the secondpressure medium supply 15 to the wheel brakes 6 of the rear axle 4 canbe released via the service-brake valve 10 and, therefore, the brakepressure can be adjusted depending on the position of the brake pedal 9.

A pneumatically actuatable relay valve 16 is situated in the first brakecircuit 13 and a relay valve 17 is similarly situated in the secondbrake circuit 14. The pneumatically actuatable relay valves 16, 17 areopened via the pneumatic pressure from the connected pressure mediumsupply 12, 15, respectively. If the service-brake valve 10 is opened,the relay valves 16, 17 switch the present brake pressure through to theconnected wheel brakes 6. In a normal braking mode (reference number 18in FIG. 3), the brake pressure in the wheel brakes 6 can be adjusteddepending on the driver's braking demand 19. In the normal braking mode18, therefore, the driver of the vehicle 2 has full control over thebraking behavior of the vehicle 2 via the actuation of the brake pedal9.

Assigned to each wheel brake 6 of the braking system 1 is a pressurecontrol valve 20 which is electrically controlled by a brake controlunit 21 in a pressure control mode (reference number 24 in FIG. 3) andis connected to the brake control unit 21 in a signal-transmittingmanner in order to receive control signals 31, 32. The pressure controlvalves 20 of the wheel brakes 6 of the front axle 3 are situated in thefirst brake circuit 13 and the pressure control valves 20 of the rearaxle 4 are situated in the second brake circuit 14. The pressure controlvalves 20 are each a combination of at least two solenoid valves, namelyan inlet valve 22 and an outlet valve 23. The inlet valve 22 is used, inthis case, in principle, for increasing the pressure and for holding thepressure in the brake cylinder 7, while the outlet valve 23 is opened inorder to reduce the brake pressure and bleeds the particular connectedbrake cylinder 7. The inlet valve 22 and the outlet valve 23 are 2/2-wayvalves in the exemplary embodiment.

The brake control unit 21 is designed and configured, in this case, forautomatically acting on the braking operation in the pressure controlmode 24, independently of the driver's braking demand 19. To this end,the brake control unit 21 determines, on the basis of the informationsupplied thereto, control signals 31, 32 for the pressure control valves20, in order to adjust the braking behavior of the individual wheelbrakes 6. The brake control unit 21 determines control signals 31 forthe inlet valves 22 and control signals 32 for the outlet valves 23 andcontrols the particular valves with the ascertained control signals 31,32. The inlet valves 22 and the outlet valves 23 are controlled in apulse-modulated manner. Therefore, the control signals 31, 32 correspondto a certain pulse pattern which the brake control unit 21 specifies foradjusting a particular brake pressure P.

In the normal braking mode 18, the inlet valves 22 are in the openposition and the outlet valves 23 are in the closed position, andtherefore the adjustment of the brake pressure P is not influenced.

In the pressure control mode 24, the brake control unit 21 takes overthe adjustment of the brake pressure of the particular wheel brakes 6 byappropriately controlling the pressure control valves 20. Assigned toeach brake circuit 13, 14 is an electrically actuatable activation valve25 which can be actuated by the brake control unit 21. Each activationvalve 25 is designed as a 3/2-way valve, whereby the pressure linebehind the activation valve can be bled, as needed. In the pressurecontrol mode 24, brake pressure is switched through to the pressurecontrol valves 20 by controlling the activation valves 25. In theexemplary embodiment shown, the activation valves 25 each control apressure line 26 from a third pressure medium supply 27 to the relayvalves 16, 17. The relay valve 16 of the front axle 3 can therefore beactuated by actuating the activation valve 25 of the first brake circuit13. Similarly, the relay valve 17 of the rear axle 4 is actuated byactuating the activation valve 25 of the second brake circuit 14.

The service-brake valve 10 and the activation valves 25 are each coupledvia a double check valve 28 to the pneumatic control inlet of the relayvalve 16, 17 of the particular brake circuit 13, 14.

The braking system 1 comprises an antilock braking system 33, theessential elements of which are the brake control unit 21, the pressurecontrol valves 20 of the wheel brakes 6 as actuators of the antilockbraking system 33, and speed sensors 29, the measuring signals 34 ofwhich are utilized by the brake control unit 21 for determining thetendency of the wheels 5 to lock. The brake control unit 21 determines,on the basis of the measuring signals 34 of the speed sensors 29,information regarding dynamic state variables of the particular wheels5, in particular the respective slip (reference number 34 in FIGS. 3 to5), in order to deduce therefrom a tendency of the relevant wheel 5 tolock. When it is established that one or more of the wheels 5 has/have atendency to lock, the antilock braking system 33, i.e., the brakecontrol unit 21 which implements the antilock function, intervenes intothe braking operation, in the pressure control mode 24, by controllingthe brake pressure P at the relevant wheel brake 6.

By adjusting the brake pressures in the pressure control mode 24, thebrake control unit 21 implements not only internal braking demands,which are specified on the basis of the dynamic state variables of thevehicle supplied thereto, but also external braking demands 30. Theexternal braking demand 30 is specified by a driver assistance system.An external braking demand 30 is understood to mean, in this case, thedemand for braking power by one or multiple driver assistance systems orother external systems which demand a braking maneuver due to theirfunction in the vehicle 2. When an external braking demand 30 isreceived, the brake control unit 21 switches from the normal brakingmode 18 into the pressure control mode 24 and takes over the control orregulation of the brake pressures P at the individual wheels 5.

If the external braking demand 30 is withdrawn, i.e., the brake controlunit 21 no longer receives an external braking demand 30, the brakecontrol unit 21 generally initiates a termination of the pressurecontrol mode 24, provided there is no further brake demand present. Whenthe pressure control mode 24 is terminated, the driver of the vehicle 2therefore receives full control again over the actuation of the wheelbrakes 6 in the normal braking mode 18.

The braking system 1 comprises a brake signal emitter 43 which isconnected to the brake control unit 21 in a signal-transmitting manner.The output signal of the brake signal emitter 43 quantitativelycorresponds to the driver's braking demand 19, wherein, for example, theposition or an actuation travel of the brake pedal 9, an actuationtravel of a component of the service-brake valve 10, or a brake pressureoutput by the service-brake valve 10 can be measured. The driver'sbraking demand 19 is communicated to the brake control unit 21 via thesignal-transmitting connection. In this way, the brake control unit 21is capable, in the pressure control mode 24, of taking an additionalbraking by the driver into account, i.e., an additional driver's brakingdemand 19 occurring simultaneously with the external braking demand 30.The output signal of the brake signal emitter 43 provides quantitativeinformation regarding the driver's braking demand 19 to the brakecontrol unit in the pressure control mode 24. In the exemplaryembodiments according to FIGS. 3 to 5, an internal setpoint decelerationZ-int desired by the driver is specified to the brake control unit 21,on the basis of which the brake control unit 21 determines and adjuststhe appropriate brake pressure P.

The brake control unit 21 takes both the driver's braking demand 19 andthe external braking demand 30 into account in a method for determiningthe brake pressure P, which is described in the following with referenceto FIG. 3.

In the normal operating mode 18, the brake pressure P alone is adjusteddepending on the driver's braking demand 19. The driver's braking demand19 is specified to the brake control unit 21 (FIG. 1) by means of avariable value representing the driver's braking demand 19. In theexemplary embodiment shown, the variable value is specified as aninternal setpoint deceleration value Z-int. If the driver's brakingdemand is entered in a physical variable other than the external brakingdemand 30, the brake control unit 21 converts the value of thesevariables into a quantitatively corresponding setpoint decelerationvalue, and therefore internal and external braking demands are presentin the same physical dimension and are easily linked. FIG. 3, FIG. 4,and FIG. 5 show flow charts of exemplary embodiments for adjusting thebrake pressure P via a brake control unit 21. In the normal braking mode18, the braking system 1 (FIG. 1) adjusts the brake pressure P viaactuation of the service-brake valve 10. If the brake control unit 21receives an external braking demand 30, a switch to the pressure controlmode 24 takes place. In a mode detection 35 for deciding between thebraking modes, the brake control unit 21 takes the braking demands intoconsideration that are to be taken into consideration, namely thedriver's braking demand 19 and the external braking demand 30. If thereis no external braking demand 30, the brake pressure P at the wheelbrakes is adjusted according to the driver's braking demand 19 in thenormal braking mode 18. In the normal braking mode 18, the inlet valves22 of the pressure control valves 20 remain open and the outlet valves23 remain closed, whereby the driver of the vehicle 2 has full controlover the braking maneuver.

If the brake control unit 21 receives an external braking demand 30, thebrake control unit 21, in the pressure control mode 24, adjusts a brakepressure P at the wheel brakes 6 with consideration for the externalbraking demand 30 and, if necessary, a simultaneous driver's brakingdemand 19. If both an external braking demand 30 and a driver's brakingdemand 19 are present, for example when the driver additionally brakesduring the pressure control mode 24, the brake control unit determinesthe brake pressure P to be adjusted while linking the driver's brakingdemand 19 and the external braking demand 30 to form a resultant brakingdemand 56.

The external braking demand 30 is specified to the brake control unit 21as an external setpoint deceleration value Z-ext. The internaldeceleration value Z-int is linked to the external deceleration valueZ-ext to form a resultant deceleration value Z-RES, being added in thecase of the exemplary embodiment.

After detection of the braking demands, i.e., either an exclusivelyexternal braking demand 30 having a setpoint deceleration value Z-ext ora resultant braking demand 56 comprising a driver's braking demand 19and an external braking demand 30, a determination 36 of the controlsignals 31, 32 for the inlet valve 22 and the outlet valve 23,respectively, takes place, in order to adjust the brake pressure Paccording to the requirement of the brake control unit 21. In thedetermination 36 of the control signals 31, 32 for the pressure controlvalves 20 of the front axle 3 and the rear axle 4, further measurementand determination variables are taken into account in addition to thepresent braking demand Z-ext or Z-RES, for example the vehicle massdetermined after the onset of the journey, an axle load ratio betweenthe front axle 3 and the rear axle 4, a brake performance factordetermined during braking operations carried out by the driver, whichcharacterizes the individual brake performance at the particular wheelbrake, or the mean braking power of all wheel brakes which aredecelerating the vehicle. Due to the various influencing variables onthe determination of the control signals, the control signals of thepressure control valves of the front axle 3 often deviate from those ofthe rear axle 4, also between individual wheels, for example in certainsituations, such as an external braking demand.

The brake control unit 21 is a component of an antilock braking system33 which evaluates the measuring signals 34 of the speed sensors 29,wherein a slip determination 37 takes place on the basis of themeasuring signals 34. In the slip determination 37, the particular slip38 for each wheel 5 of the vehicle 2 is determined. An activation 39switches into the pressure control mode 24 when the determined slip 38falls below a predefined slip limit. In this case, the slip limitrepresents the state of the relevant wheel, at which the wheel tends tolock. In an activation 39 of the antilock function, control signals 31,32 for the inlet valves 22, 23 are generated in the pressure controlmode 24 and the brake pressure P at the wheel 5 tending to lock iscontrolled along the slip limit.

If the brake pressure P is already adjusted in the pressure control mode24 due to an external braking demand 30, the brake control unit 21carries out a supervision 41 of the control signals 31, 32, withconsideration for a differential slip value 42 before a release 40 ofthe control signals for the inlet valves 22 and the outlet valves 23.The supervision is explained in greater detail in the following. Thedifferential slip value 42 corresponds to the difference of the slip 38of two axles 3, 4 of the vehicle. In the determination of thedifferential slip values 42, either all slips 38 of the wheels (wheelslips) or all axle slips are considered, which represent the mean valueof the wheel slips of the left and the right wheels of an axle, aredirectly read in for the supervision 41. If interaxle differential slipvalues 42 have already been determined for other driver assistancefunctions, these are advantageously utilized for the supervision 41.

In vehicles comprising more than two axles, multiple interaxledifferential slip values 42 are determined and are utilized for thesupervision 41. In this case, the differential slip values 42 aredetermined for multiple axles, relative to an axle taken into account inall axle pairs in each case. Such a reference axle, to which thedifferential slip values of all remaining axles relate, is preferablythe front axle 3. The differential slip value 42 is determined in adifference determination 52 of the supervision 41 on the basis of theslip 38 of the particular axles 3, 4 of the vehicle under consideration.The information regarding the particular slip 38 is provided by theantilock function which constantly evaluates the measuring signals 34 ofthe speed sensors 29.

In the supervision 41, an evaluation 45 of the at least one differentialslip value 42 takes place with consideration for a requirement 55 of asetpoint differential slip value 53. By adapting at least one controlsignal 31, 32, the differential slip value 42 is brought closer to thepredefined setpoint differential slip value 53. Depending on theevaluation 45, the supervision 41 carried out in the brake control unit21 releases the ascertained control signals 31, 32 for implementation atthe inlet valves 22 or at the outlet valves 23 or adapts at least onecontrol signal 31, 32 at at least one wheel brake of the axles takeninto account in the supervision 41 for the purpose of readjustment withrespect to a future reduction of the differential slip value 42. Thesupervision 41 considers the particular differential slip value 42 peraxle or per brake circuit, i.e., separately for the front axle 3, rearaxle 4, and for further brake circuits or axles of the vehicle. Theevaluation 45 of the differential slip value 42 takes place on the basisof a comparison of the differential slip value 42 with the predefinedsetpoint differential slip value 53.

In the evaluation 45, a predefined control intervention criterion 46 isalso taken into account, wherein the supervision 41 of the brake controlunit 21 releases the control signals 31, 32 depending on the fulfillmentof the control intervention criterion 46 or adapts at least one controlsignal 31, 32 for readjusting the differential slip value 42.

In the exemplary embodiment according to FIG. 3, a slip threshold value47 is specified to the evaluation 45 of the differential slip value 42as the control intervention criterion 46. If the determined differentialslip value 42 is below the predefined differential slip value 47, thesupervision 41 switches the ascertained control signals 31, 32 for theimplementation through to the inlet valves 22, 23. This is representedin FIG. 2 by way of the control of the release of the control signals31, 32.

If the evaluation 45 of the differential slip value 42, as compared tothe slip threshold value 47, yields a differential slip value 42 that istoo great and reaches the slip threshold value 47 or is even greaterthan the slip threshold value 47, the supervision 41 prevents therelease 40 of the present control signals 31, 32 and initiates a newdetermination 36 of the control signal or multiple control signals 31,32. The determination 36 of control signals 31, 32 is provided with apiece of adaptation information 54 in this case, which, on the basis ofthe evaluation 45, indicates the tendency of which direction (increaseor decrease) the brake pressure is to be adapted at certain wheel brakesin order to change the future differential slip value 42 as desired andto readjust a setpoint differential slip value 53. In every newdetermination of control signals 31, 32, a new cycle of the supervision41 takes place, and therefore presently ascertained control signals 31,32 are always evaluated before a release 40 for implementation.

In the adaptation of the control signals 31, 32 with respect to areduction of the differential slip value 42, the control signal 31 of aninlet valve 22 of the relevant wheel brake is changed in order toincrease the brake pressure P and/or the control signal 32 of an outletvalve 23 is changed in order to reduce the brake pressure P. Thedetermination 36 of new, present control signals 31, 32 takes place insuch a way, in this case, that the brake control unit 21 reduces thebrake pressure at the axle of the compared pair of axles 3, 4 having thegreater slip, with consideration for the evaluation 45 of thedifferential slip value 42. As a result, in the further course of abraking operation in the pressure control mode 24 due to an externalbraking demand 30, the axle having the relatively greatest slip 38 atthe moment is spared, in that it need not perform any additional brakingwork or is relieved. The other brake circuits or the connected wheelbrakes take over the implementation of the demanded braking power.

A differential slip value 42 that is too great indicates an over-brakingof the axle under consideration, as compared to the reference axle. Ifthe control signal considered in the supervision 41 or the determinedpulse pattern is provided for controlling the inlet valve 22, a release40 of the control signal 31 would result in the relevant axle proceedingeven further into the over-braking state, which is prevented by theblocking and recalculation of the control signal 31 due to thesupervision 41. In the exemplary case of a determined differential slipunder consideration, if the determined pulse pattern is a control signal32 for the outlet valve 23, the supervision 41 releases the pulsepattern for the implementation to the outlet valve 23.

In the exemplary embodiment according to FIG. 4, an upper slip thresholdvalue 48 and a lower slip threshold value 49 are specified as thetolerance range 50, as the control intervention criterion 46 for theevaluation 45 of the differential slip value 42. An adaptation of thebrake pressure distribution takes place by changing the control signals31, 32 when the differential slip value 42 exceeds the upper slipthreshold value 48 or falls below the lower slip threshold value 49. Ifthe differential slip value exceeds the upper slip threshold value 48,the implementation of the pulse pattern (control signal 31) by the inletvalve 22 is blocked and recalculated. The same applies for the outletvalve 23, i.e., if the lower slip threshold value is fallen below, therelease 40 for a pulse pattern (control signal 32) for the outlet valve23 is blocked and recalculated. A tolerance range having a permissibledifferential slip is represented by way of the two parameters, namelythe upper slip threshold value 48 and the lower slip threshold value 49.

With consideration for the predefined tolerance range 50, thedifferential slip value 42 within the tolerance range 50 is broughtcloser to the setpoint differential value 53 according to therequirement 55. The setpoint differential slip value 53 isadvantageously specified depending on the setpoint deceleration Z-RES ofthe vehicle or the present vehicle deceleration Z-actual (see FIG. 5).Preferably, such a setpoint differential slip value 53 applies in thelower magnitude range of the vehicle deceleration that the rear axle 4or one of the rear axles opposite the front axle 3 utilized as areference axle has a greater slip 38. As the setpoint deceleration (oractual deceleration) increases, the setpoint differential slip ischanged in the direction of an equalized differential slip between therear axle 4 or the rear axles and the front axle 3. This means, thesetpoint differential slip value 53 is increasingly reduced, ifnecessary until the value “zero” is reached or becomes less than zero,in the upper magnitude range of the vehicle deceleration.

FIG. 5 shows yet another exemplary embodiment of a method for adjustingthe brake pressure P, wherein, in contrast to the exemplary embodimentsaccording to FIG. 3 and FIG. 4, a first tolerance range 50 having slipthreshold values 48, 49 is specified for a braking operation havingactive retarders and a second tolerance range 51 having slip thresholdvalues 48′, 49′ is specified for a braking operation without retarders.Depending on whether a retarder is active at an axle of an axle pairunder consideration with respect to the differential slip, or not, theparticular tolerance range 50, 51 provided therefor is used as the basisfor the supervision 41. Due to the provision with differentlyparameterized tolerance ranges 50, 51, it is possible to select whether,in the case of an active retarder, a higher upper differential slipvalue 48 is specified in the supervision 41, for example in order toreduce a nonsynchronous operation of the axle pair under consideration,due to wear of the brake pads.

The newly ascertained control signals 31, 32 or pulse patterns are alsosubject to the supervision 41 by the evaluation 45 of a differentialslip value 42.

While a motor vehicle is represented in the exemplary embodimentaccording to FIG. 1, FIG. 2 shows an electrical-pneumatic diagram of abraking system 1′ of a vehicle combination 64, in which a towed vehicle57 is connected to the vehicle 2 utilized as the towing vehicle and itsbraking system is connected to the braking system of the towing vehicle.Electrical lines are represented by solid lines and pneumatic lines arerepresented by dotted lines. The design of the braking system 1′corresponds to the design of the braking system 1 of the vehicle 2according to FIG. 1, except for the following particularities.

A third brake circuit 63 comprising a fourth pressure medium supply 59is configured for activating the braking system of the towed vehicle 57.Similarly to the first brake circuit 13 and the second brake circuit 14,the third brake circuit 63 comprises a trailer pressure control valve68, a double check valve 28, and a 3/2-way valve 25. The trailerpressure control valve 68 of the third brake circuit 63 or its inletvalve 22 and outlet valve 23 can be controlled by the control unit 21.In contrast to the first brake circuit 13 and the second brake circuit14, a brake pressure line 58 behind the trailer pressure control valve68 is connected to a trailer control valve 60, which controls theconnection between the fourth pressure medium supply 59 and a pneumaticcoupling head 61. The braking system of the towed vehicle 40 can becoupled to the coupling head 61. In the exemplary embodiment shown, thebraking system of the towed vehicle 57 is supplied from the fourthpressure medium supply 59 via the precontrol of the trailer controlvalve 60.

The brake control unit 21 is connected to the braking system of thetowed vehicle 57 via a CAN interface 62 and, in the exemplaryembodiment, detects the measuring signals 34 of the speed sensors 29 atthe wheels 5 of the towed vehicle 57. The brake control unit 21 of thetowing vehicle immediately registers the measuring signals 34 of thespeed sensors 29 of wheels 5 of the towed vehicle 57.

In further exemplary embodiments, the towed vehicle 57 comprises aseparate control unit, in addition to the brake control unit of thetowing vehicle. Via the CAN interface 62 between the towed vehicle 57and the vehicle 2 which is a towing vehicle in this case, the controlunit of the towed vehicle 57, which is not shown in FIG. 5, transmits aspeed signal toward the towing vehicle, for example the towed vehiclereference speed which was determined by a control unit of the towedvehicle 57 on the basis of all available measuring signals 34 of speedsensors 29 of the towed vehicle 57. Alternatively, a towed vehicle axlespeed is determined and is transmitted to the brake control unit 21;this is the speed of the wheels of a certain selected axle of the towedvehicle 57. In other words, this axle speed is determined on the basisof the measuring signals 34 of the speed sensors 29 of the relevant axleof the towed vehicle 57. In this case, the relevant axle of the towedvehicle 57 is an axle of the towed vehicle 57 that is representative ofthe deceleration effect of the towed vehicle 57. This is advantageouslythe front axle in the case of a fifth-wheel towed vehicle, or it is themiddle of the three axles in the case of a three-axle semitrailer.

The brake control unit 21 of the towing vehicle determines brakepressures for the towed vehicle 57 and controls the pressure controlvalves of the wheel brakes of the towed vehicle 57 via control signalsaccording to the wheel brakes of the towing vehicle; see FIG. 3 to FIG.5. In this case, the brake control unit 21 carries out theabove-described supervision 41 of the control signals and brings adifferential slip value closer to a setpoint differential slip value.The differential slip value in this case corresponds to the differencebetween the slip of one axle of the towed vehicle 57 or its wheels 5 andthe slip at the reference axle of the system, namely the front axle 3 ofthe towing vehicle in the exemplary embodiment.

FIG. 6 shows an electrical-pneumatic diagram of a braking system 1″according to an embodiment of the invention for a vehicle combination 65comprising a preceding vehicle 2, as the towing vehicle, and one ormultiple towed vehicles 57. Electrical lines are represented by solidlines and pneumatic lines are represented by dotted lines. Unlessdescribed otherwise in the following, the braking system 1″ correspondsto the braking system according to FIG. 2.

The towed vehicle 57 comprises a braking system including a brake module6 and wheel brakes 6, comprising one pressure control valve 20 in eachcase, which can be controlled by the brake module 66 independently ofthe brake control unit 21 of the towing vehicle. To this end, the brakemodule 66 registers the speeds of the wheels 5 via particular speedsensors 29 and autonomously carries out an antilock function.

The pressure control valves 20 of the towed vehicle 57 are connected toa shared brake pressure line 67, in which a certain trailer brakepressure P-A prevails. The trailer brake pressure P-A can be adjustedvia the trailer pressure control valve 68 which is situated in thetowing vehicle 2 ahead of the trailer control valve 60, wherein thetrailer pressure control valve 68 can be controlled by the brake controlunit 21. Therefore, the brake control unit 21 controls the trailer brakepressure P-A via the trailer pressure control valve 68 and the trailercontrol valve 60, in the connection between the trailer control valve 60and the fourth pressure medium supply 59 which is provided for the towedvehicle 57.

The brake module 66 determines, from the speeds of the wheels 5 of thetowed vehicle 57, the trailer axle 69, 70 having the least slip 38 atthe moment, for example the front axle of the towed vehicle 57. A pieceof information 71 representing the slip 38 at the control axle 69, whichis selected in this way, is communicated by the brake module 66 to thebrake control unit 21 via the CAN interface 62.

The adjustment of the brake pressures P-A at the wheel brakes 6 in thetowed vehicle 57 is explained in greater detail in the following withreference to FIG. 7. In this case, a slip determination 37 takes placeon the basis of the measuring signals 34 of the speed sensors 29situated on the front axle 3, in a manner described above for thereference axle, which is generally the front axle 3 of the towingvehicle. For the towed vehicle 57, corresponding slip determinations 37are carried out for the trailer axles 69, 70.

On the basis of the slips 38 determined in this way for the traileraxles 69, 70, in a comparison 72 of the slips 38, the trailer axle 69having the least slip 38 is determined as the control axle 69. This isthe front trailer axle in the exemplary embodiment according to FIG. 7.The slip 38 of the control axle 69 is the information 71 which iscommunicated to the brake control unit 21 of the towing vehicle.

With the information 71 regarding the slip 38 at the control axle 69,the brake control unit 21 carries out the difference determination 52,i.e., it determines a trailer differential slip value 74 as thedifference between the slip 38 at the control axle 69 and the slip 38 atthe front axle 3 of the towing vehicle, which is assumed to be thereference axle. The trailer differential slip value 74 is brought closerto a predefined setpoint differential slip value 53 similarly to thereadjustment of the differential slip values 42 described above withreference to FIG. 3. Within the scope of this control, the brake controlunit 21 varies the trailer brake pressure P-A in the determination 36 ofcontrol signals and controls the trailer pressure control valve 68,which is situated in the towing vehicle 2 ahead of the trailer controlvalve 60, with appropriate control signals 31, 32. The trailer brakepressure P-A determined in this way is finally available at the trailercontrol valve 60.

After a predefined start condition 87 occurs, the brake module 66 of thetowed vehicle 57 also initiates a signal output 73 for switching theinlet valves 22 of the pressure control valves 20 on the other traileraxles, namely the rear trailer axle 70 in the exemplary embodiment, intothe closed switching state 75. In the exemplary embodiment shown, thestart condition 87 for the brake module 66 of the towed vehicle is thereception of an information signal 90 of the brake control unit 21 ofthe towing vehicle, with which the brake control unit 21 indicates, tothe brake module 66 of the towed vehicle 57, the beginning of theregulation of the differential slip values. The brake control unit 21therefore signals an active intervention by the supervision (referencenumber 41 in FIG. 3 to FIG. 5) into the determination 36 of controlsignals. In further advantageous exemplary embodiments, alternatively oradditionally, the occurrence of a certain deceleration effect on thevehicle combination 65, for example, approximately 1 m/s², is registeredas the start condition 87. If the predefined start condition 87 is met,the brake module 66 of the towed vehicle 57 closes the inlet valves 22of the trailer axle 70 presently running with greater slip, and monitorsthe switching state thereof.

Within the scope of the comparison 72 of the slips 38 of the traileraxles 69, 70, a differential determination 81 of these slips 38 takesplace, i.e., an interaxle trailer differential slip 82 is determined.The temporal progression of the trailer differential slip 82 ismonitored with respect to a change 76 of the switching state 75 of theinlet valves 22 at the rear trailer axle 70, i.e., the termination ofthe active control of the pressure control valves 20 or their inletvalves 22. The closed switching state 75 of the inlet valves 22, i.e.,the active control of the pressure control valves 20 or their inletvalves 22, is concluded in this case and is activated again depending onan evaluation 83 of the temporal progression of the interaxle trailerdifferential slip 82 having at least one switching threshold 77, 78, 79of the trailer differential slip 82.

In the exemplary embodiment shown, three switching thresholds 77, 78, 79are predefined for different situations and are described in thefollowing with reference to FIG. 8 to FIG. 10. FIG. 8, FIG. 9, and FIG.10 each show a graphical progression of the trailer differential slip 82in its auxiliary dimension [%], as defined. The graph 84 corresponds tothe switching states (reference number 75 in FIG. 7) of the inlet valves22 at the rear trailer axle 70. The switching state “0” corresponds tothe open switching state, while the closed switching state is indicatedwith “1”. The graph 85 qualitatively represents the temporal progressionof the demanded vehicle deceleration in the sense of negativeacceleration requirements in the dimension [m/s²], i.e., setpoint valuescorresponding to the external braking demand 30 or the resultant brakingdemand 56.

The point in time t0 corresponds to the beginning of a brakingdeceleration according to an external braking demand. At the start pointt1, the start condition 87, which can be registered by the brake module66, is met, i.e., in the exemplary embodiment shown, the brake module 66receives an information signal 90 of the brake control unit 21, at startpoint t1, for display of the supervision 41 with adaptation of thecontrol signals for the readjustment of the differential slip value(reference number 42 in FIG. 3 to FIG. 5) by supplying an appropriateinformation signal 90.

After the brake module 66 of the trailing vehicle 57 closes the inletvalves 22, for the first time, of the trailer axle 70 presenting runningwith greater slip, after fulfillment of the start condition 87 at thestart point t1, the predefined switching thresholds 77, 78, 79 are takeninto account in the monitoring of the switching states of the inletvalves. The switching thresholds 77, 78, 79 are threshold values whichare explained in greater detail in the following, and with which thepresent trailer differential slip is compared. In the determination ofthe threshold values, tolerance slip values 80 predefined in thedimension (auxiliary unit of measure) of the differential slip (percent)are taken into account, for example are added.

The tolerance slip value 80 is 0.5%, for example. In this case, thetolerance slip value relates to the definition of the slip in thedimension (auxiliary unit of measure) “percent” according to the formula(n1−n2)/n1×100%, wherein the variable “n” designates the rotationalspeed of an axle.

For the monitoring and, if necessary, changeover 76 of the switchingstates of the inlet valves 22 of the trailer axle 70, the trailerdifferential slip 82 and the switching thresholds 77, 78, 79 aredetermined as criteria, i.e., in particular also the tolerance slipvalues 80 utilized for the qualitative determination of the switchingthresholds 77, 78, 79.

FIG. 8 illustrates the monitoring of an exemplary progression of thetrailer differential slip 82 with respect to a first switching threshold77. In this case, a reaching and exceeding of a zero line 86 of thetrailer differential slip 82 by a tolerance slip value 80 is monitoredas the switching threshold 77.

At the point in time t2, all vehicle axles 69, 70 of the towed vehicle57 have the same rotational speeds or speeds and, therefore, slips, andtherefore the trailer differential slip 82 has reached the zero line 86.

At the point in time t3, the trailer differential slip 82 reaches thepredefined first switching threshold 77, i.e., it exceeds the zero line86 by the predefined tolerance slip value 80 of 0.5%, and therefore aswitching-state changeover for the relevant inlet valves 22 takes place.The brake module 66 of the towed vehicle 57 opens the inlet valves 22,which have been closed so far, of the rear trailer axle 70 again or endstheir temporary closure, and therefore the brake pressure in the brakecylinders 7 of the rear trailer axle 70 begins to increase. The increasein the brake pressure in the brake cylinders 7 of the rear trailer axle70, which sets in due to a controlled opening of the inlet valves 22 ofthe rear trailer axle 70, increasingly shifts the ratio of therotational speeds, speeds, and slips between the control axle 69 and therear trailer axle 70 and, in the case of a constant increase of thebraking demand (graph 85), constantly in the direction of anover-braking of the rear trailer axle 70 in relation to the control axle69 of the towed vehicle 57, and therefore, as the braking demandcontinues to increase (graph 85), the trailer differential slip 82reaches and falls below the zero line 86 again.

At the point in time t4, the trailer differential slip 82 reaches thefirst switching threshold 77 (tolerance slip value 80) again, due to thefurther increase in the external braking demand according to graph 85and the controlled openings of the inlet valves 22 of the trailer axle70, although with a different sign than at the point in time t3, butabsolute value, and therefore a changeover of the switching states takesplace again and the inlet valves 22 of the trailer axle 70 are closedagain.

In the exemplary embodiment shown, the braking demand is additionallyevaluated according to the graph 85 for the monitoring and, ifnecessary, changeover 76 of the switching states of the inlet valves 22of the trailing axle 70. A tendency 88 of the present braking demand,i.e., the external braking demand 30 or the resultant braking demand 56comprising an external braking demand 30 and a driver's braking demand19, is taken into account in a decision regarding the requirement of anexpanded tolerance range 89 after the first switching threshold 77 hasbeen reached. The expanded tolerance range 89 is specified to be twiceas great, for example, as the tolerance slip value 80 according to theswitching threshold 77, i.e., 1 m/s², for example, on both sides of thezero line 86 in this case. If a tendency 88 toward an increasing brakingdemand is determined, as in the exemplary progression according to thegraph 85, a changeover of the switching state of the inlet valves takesplace due to the first switching threshold 77 having been reached, i.e.,at the point in time t3, the inlet valves, which have been closed sofar, are no longer controlled in a closing manner. At the point in timet4, a changeover of the switching state takes place again, since thefirst switching threshold 77 has been reached, and the inlet valves areclosed.

In the case corresponding to the tendency 88 of a decreasing brakingdemand 30, 56, the expanded tolerance range 89 for the trailerdifferential slip 82 is specified and the inlet valves 22 of the traileraxles 70, except for the control axle 69, are held closed until theexpanded tolerance range 89 is exited, i.e., until the expandedswitching thresholds 93 determined by the tolerance range 89 have beenreached or exceeded.

FIG. 9 illustrates the monitoring of an exemplary progression of thetrailer differential slip 82 with respect to a second switchingthreshold 78. For the determination of the second switching threshold78, reference is made to an initial value 91 of the trailer differentialslip 82, which is stored at the start point t1 of the closure of theinlet valves 22, for example an initial value of −2.77%, as indicated inFIG. 9. The initial value 91 is specified, in addition to a toleranceslip value 80, as the second switching threshold 78 and is utilized formonitoring the switching states of the inlet valves 22 and decisionsregarding the changeover (reference number 76 in FIG. 7) of theirswitching states. The second switching threshold 78 reliably prevents afurther increase in the under-braking of the control axle 69 in relationto the braking effect of the trailer axle 70 beyond the value of thetolerance slip value 80. The second switching threshold 78 is configuredfor the case in which the absolute value of the trailer differentialslip 82 between the trailer axles 69, 70 increases after the closure ofthe inlet valves at the point in time t1, without an approach by thetrailer differential slip 82 to the zero line 86, proceeding from theinitial value 91, by at least the value of the tolerance slip value 80,having previously taken place, at least temporarily. At the point intime t3, the trailer differential slip 82 reaches the predefined secondswitching threshold 78 corresponding to the tolerance slip value 80taken into account therefor. When the second switching threshold 78 isreached, the brake module 66 of the towed vehicle 57 again opens theinlet valves 22 of the rear trailer axle 70, which have been closed sofar, or ends the active control in the sense of a closure of the inletvalves. In further exemplary embodiments, the second switching threshold78 is set as the sum of the stored initial value 91 and a portion of theinitial value 91 of the trailer differential slip 82 at the point intime t1 of the closure of the inlet valves 22.

FIG. 10 illustrates the monitoring of an exemplary progression of thetrailer differential slip 82 with respect to a third switching threshold79, wherein the stored initial value 91 of the trailer differential slip82 is predefined at the start point t1. The third switching threshold 79is predefined for the case in which the absolute value of a trailerdifferential slip 82 decreases, wherein, in contrast to the area ofapplication of the second switching threshold 78, the absolute value ofthe trailer differential slip 82 has temporarily decreased since thestart point, by at least one tolerance slip value 80. In other words,the third switching threshold 79 is applied instead of the secondswitching threshold 78, i.e., the initial value 91 without thesupplement provided in the second switching threshold 78, provided theabsolute value of the trailer differential slip 82 had alreadydecreased, despite the presently increasing tendency, by a certainextent, namely by the absolute value of the tolerance slip value 80 ofapproximately 0.5%. The supplement to the initial value 91 fordetermining the switching threshold is therefore dispensed with as soonas the decreasing absolute value of the trailer differential slip value82 falls below the limit 92 determined by the tolerance slip value 80.In this way, the controllability of the inlet valves, which are in theclosed switching state, is ensured for cases in which an approach to thezero line 86 takes place by at least the tolerance slip value 80, but anequalized trailer differential slip 82 due to the zero line 86 havingbeen reached or exceeded, does not.

The third switching threshold 79 detects braking situations, in whichthe zero line 86, i.e., the state of an interaxle, equalized slipbehavior, is not reached and, therefore, the first switching threshold77 cannot be reached. If the absolute value of the trailer differentialslip 82 increases again, starting both at the point in time t3 and atthe point in time t6 in the exemplary embodiment, the switching state ofthe relevant inlet valves, except for the valves of the control axle,are switched when the initial value 91 utilized as the switchingthreshold 79 for the comparison with the present trailer differentialslip 82 is reached.

While the invention has been illustrated and described in detail in thedrawings and foregoing description, such illustration and descriptionare to be considered illustrative or exemplary and not restrictive. Itwill be understood that changes and modifications may be made by thoseof ordinary skill within the scope of the following claims. Inparticular, the present invention covers further embodiments with anycombination of features from different embodiments described above andbelow.

The terms used in the claims should be construed to have the broadestreasonable interpretation consistent with the foregoing description. Forexample, the use of the article “a” or “the” in introducing an elementshould not be interpreted as being exclusive of a plurality of elements.Likewise, the recitation of “or” should be interpreted as beinginclusive, such that the recitation of “A or B” is not exclusive of “Aand B,” unless it is clear from the context or the foregoing descriptionthat only one of A and B is intended. Further, the recitation of “atleast one of A, B and C” should be interpreted as one or more of a groupof elements consisting of A, B and C, and should not be interpreted asrequiring at least one of each of the listed elements A, B and C,regardless of whether A, B and C are related as categories or otherwise.Moreover, the recitation of “A, B and/or C” or “at least one of A, B orC” should be interpreted as including any singular entity from thelisted elements, e.g., A, any subset from the listed elements, e.g., Aand B, or the entire list of elements A, B and C.

LIST OF REFERENCE CHARACTERS

-   1. braking system-   2. vehicle-   3. front axle-   4. rear axle-   5. wheel-   6. wheel brake-   7. brake cylinder-   8. spring-loaded cylinder-   9. brake pedal-   10. service-brake valve-   11. brake line-   12. pressure medium supply-   13. first brake circuit-   14. second brake circuit-   15. second pressure medium supply-   16. relay valve-   17. relay valve-   18. normal braking mode-   19. driver's braking demand-   20. pressure control valve-   21. brake control unit-   22. inlet valve-   23. outlet valve-   24. pressure control mode-   25. 3/2-way valve-   26. pressure line-   27. third pressure medium supply-   28. double check valve-   29. speed sensor-   30. external braking demand-   31. control signal—inlet valve-   32. control signal—outlet valve-   33. antilock braking system-   34. measuring signal-   35. mode detection-   36. determination-   37. slip determination-   38. slip-   39. activation-   40. release-   41. supervision-   42. differential slip value-   43. brake signal emitter-   44. brake line-   45. evaluation-   46. control intervention criterion-   47. slip threshold value-   48. upper slip threshold value-   49. lower slip threshold value-   50. tolerance range-   51. tolerance range-   52. difference determination-   53. setpoint differential slip value-   54. adaptation information-   55. requirement-   56. resultant braking demand-   57. towed vehicle-   58. brake pressure line—trailer-   59. fourth pressure medium supply-   60. trailer control valve-   61. coupling head-   62. CAN interface-   63. third brake circuit-   64. vehicle combination-   65. vehicle combination-   66. brake module-   67. brake control line-   68. trailer pressure control valve-   69. control axle-   70. trailer axle-   71. information-   72. comparison-   73. signal output-   74. trailer differential slip value-   75. switching state-   76. changeover-   77. first switching threshold-   78. second switching threshold-   79. third switching threshold-   80. tolerance slip value-   81. difference determination-   82. trailer differential slip-   83. evaluation-   84. graph-   85. graph-   86. zero line-   87. start condition-   88. trend-   89. tolerance range-   90. information signal-   91. initial value-   92. limit-   93. expanded switching threshold-   P brake pressure-   P-A trailer brake pressure-   Z-int internal deceleration value-   Z-ext external deceleration value-   Z-RES resultant deceleration value-   Z-ist actual deceleration-   t1 start point-   t0-t7 point in time

What is claimed is:
 1. A method for adjusting a brake pressure at apneumatically actuated wheel brake of a vehicle, wherein the brakepressure at the wheel brake is adjusted in a normal braking mode as afunction of a driver's braking demand determined by a driver of thevehicle, the method comprising: receiving an external braking demandindependent of the driver's braking demand, wherein the external brakingdemand specifies a demanded vehicle deceleration; in response to thereceived external braking demand, performing, by a brake control unitduring each of a plurality of computation cycles in a pressure controlmode: ascertaining a control signal for a pressure control valve of thepneumatically actuated wheel brake of the vehicle, wherein theascertained control signal for the pressure control valve specifiescontrol of the pressure control valve for bringing about the demandedvehicle deceleration, continuously ascertaining a differential slipvalue, wherein the differential slip value is a difference between aslip of two axles of the vehicle and is determined by measuring signalssupplied by speed sensors of wheels of the vehicle, evaluating thedifferential slip value with respect to a predefined or adjustablesetpoint differential slip value, based on the evaluation of thedifferential slip value, adapting the ascertained control signal for thepressure control valve so as to specify control of the pressure controlvalve for bringing the differential slip value closer to the predefinedor adjustable setpoint differential slip value, and releasing theadapted control signal to the pressure control valves.
 2. The methodaccording to claim 1, further comprising, in response to the receivedexternal braking demand, performing, by the brake control unit duringeach of the plurality of computation cycles in the pressure controlmode: ascertaining a control signal for each of one or more additionalpressure control valves of one or more pneumatically actuated wheelbrakes of the vehicle, wherein the ascertained control signal for eachof the one or more additional pressure control valves specify control ofthe one or more additional pressure control valves for bringing aboutthe demanded vehicle deceleration, based on the evaluation of thedifferential slip value, adapting the ascertained control signal foreach of the one or more pressure control valves so as to specify controlof the one or more pressure control valves for bringing the differentialslip value closer to the predefined or adjustable setpoint differentialslip value, and releasing, for each of the one or more pressure controlvalves, the adapted control signal to a respective one of the one ormore pressure control valves.
 3. The method according to claim 1,wherein the adapting the ascertained control signal for the pressurecontrol valve so as to specify control of the pressure control valve forbringing the differential slip value closer to the predefined oradjustable setpoint differential slip value comprises adapting a controlsignal of an inlet valve and/or of an outlet valve of the pressurecontrol valve.
 4. The method according to claim 1, wherein the inletvalve and the outlet valve are simultaneously controlled withoverlapping control times.
 5. The method according to claim 1, whereinthe predefined or adjustable setpoint differential slip value is afunction of the demanded vehicle deceleration.
 6. The method accordingto claim 1, wherein the function of the demanded vehicle decelerationspecifies, for a first range of demanded vehicle deceleration, a firstrange of predefined or adjustable setpoint differential slip values thatcorresponds to a greater slip of a rear axle than of a front axle andfurther specifies, for a second range of demanded vehicle deceleration,a second range of predefined or adjustable setpoint differential slipvalues that corresponds to a greater slip of a front axle than of a rearaxle.
 7. The method according to claim 1, wherein the predefined oradjustable setpoint differential slip value is a tolerance range havingan upper slip threshold value and a lower slip threshold value.
 8. Themethod according to claim 7, wherein if the differential slip valueexceeds the upper slip threshold value, the adapting the ascertainedcontrol signal for the pressure control valve so as to specify controlof the pressure control valve for bringing the differential slip valuecloser to the predefined or adjustable setpoint differential slip valuecomprises adapting a control signal of an inlet valve of the pressurecontrol valve.
 9. The method according to claim 7, wherein if thedifferential slip value falls below the lower slip threshold value, theadapting the ascertained control signal for the pressure control valveso as to specify control of the pressure control valve for bringing thedifferential slip value closer to the predefined or adjustable setpointdifferential slip value comprises adapting a control signal of an outletvalve of the pressure control valve.
 10. The method according to claim1, further comprising continuously ascertaining one or more additionaldifferential slip values, wherein each of the one or more additionaldifferential slip values is a difference between a slip of two axles ofthe vehicle and is determined by measuring signals supplied by speedsensors of wheels of the vehicle.
 11. The method according to claim 2,wherein the vehicle is a combination vehicle including a towing vehicleand a towed vehicle, wherein the pressure control valve of thepneumatically actuated wheel brake of the vehicle is a pressure controlvalve of a wheel brake of the towed vehicle, and wherein the one or moreadditional pressure control valves of the one or more additionalpneumatically actuated wheel brakes of the vehicle are one or moreadditional pressure control valves of one or more wheel brakes of thetowing vehicle.
 12. The method according to claim 11, wherein thedifferential slip value is a difference between a slip of an axle of thetowed vehicle and an axle of the towing vehicle and is determined bymeasuring signals supplied by one or more speed sensors of a wheel ofthe towed vehicle and one or more speed sensors of a wheel of the towingvehicle.
 13. The method according to claim 1, wherein the ascertainedcontrol signal and the adapted control signal are pulse patterns. 14.The method according to claim 13, wherein adapting the ascertainedcontrol signal for the pressure control valve comprises adapting thepulse pattern of the ascertained control signal to provide the pulsepattern of the adapted control signal.
 15. A braking system of a motorvehicle or a vehicle combination including a motor vehicle as the towingvehicle and at least one towed vehicle, the braking system comprising,per wheel: one brake cylinder and one pressure control valve, which areconnected to a brake control unit in a signal-transmitting manner inorder to receive control signals during a pressure control mode, aservice-brake valve which can be actuated by a driver of the vehicle,and a brake signal emitter, wherein brake pressures in the brakecylinders are adjustable by the brake control unit, in a normal brakingmode, depending on a driver's braking demand, by actuating theservice-brake valve and, in a pressure-control mode, via the particularpressure control valve, wherein the brake control unit is designed forreceiving external braking demands which are independent of the driver'sbraking demand and is connected to speed sensors of the wheels fordetecting the rotational behavior and for monitoring a tendency of thewheels of the vehicle to lock on the basis of the measuring signals ofthe speed sensors and, upon determination of a tendency of at least onewheel to lock and/or upon reception of an external braking demand, takesover the adjustment of the brake pressures in the pressure control mode,and wherein the brake control unit is configured for continuouslydetermining differential slip values from the measuring signals of thespeed sensors as the difference between the slip of two axles of thevehicle and for evaluating and readjusting the differential slip valueaccording to one predefined or ascertained setpoint differential slipvalue by adapting the control signals.